Securing Transformer Using Torque Tools
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![Securing Transformer Using Torque Tools [2509.23112] FTACT: Force Torque aware Action Chunking Transformer for ...](https://ar5iv.labs.arxiv.org/html/2509.23112/assets/figures/Fig1.png)






![Securing Transformer Using Torque Tools [2509.23112] FTACT: Force Torque aware Action Chunking Transformer for ...](https://ar5iv.labs.arxiv.org/html/2509.23112/assets/figures/Fig2.png)
































































































